JPH07112100A - Device for taking-out cloth or the like - Google Patents

Abstract

PURPOSE:To simply execute the work at the time of taking out cloth or the like one by one out of a cloths group in the light work, and to exactly execute the taking-out work for the cloth or the like. CONSTITUTION:In this device for taking out one piece of cloth or the like Y in a hanging state from a cloths group Z by vertically moving a catching device 1 capable of catching cloth or the like Y by a vertical motion device 6, an arbitrary part of the cloth or the like Y is caught by each of left and right chuck pieces 21 by using a chuck opening/closing device 3 of the catching device 1, and the catching device 1 is moved upward by a vertical driving device 6, in a state that the tip catching part of the each chuck piece 21 is displaced extending from a position where it is joined in the lower side than a line L for connecting each axis of each chuck piece 21 to a position where it is joined in the upper side by going over the line L. In such a way, a cloths taking-out work can be executed in the light work, and also, since both hands can be used, a cloths unfastening work can easily be executed in a short time, and moreover, the catching action of each chuck piece can be increased.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, for example, in a laundry factory or the like, prior to a cloth unfolding operation performed before the cloths (sheets, wrapping cloth, etc.) after washing and drying are supplied to the next process side, The present invention relates to a cloth take-out device for taking out cloths one by one from a group of cloths in which a large number of cloths are piled up in a pile.

[0002]

2. Description of the Related Art Generally, in a laundry factory, many sheets of cloth such as sheets and wrapping cloth that have been received are washed at the same time and then dried in a dryer through a dehydration process. The group of cloths after being taken out is taken out from the dryer in the form of a nodule.

The group of cloths thus dried is transferred, for example, on a belt conveyor or a trolley to a certain place and piled up there. In this piled cloth group, the cloths are entangled with each other. It is in a state of And
When the cloths are sent to the processing machine (for example, press machine) on the next process side, the worker manually takes out the cloths one by one from the piled cloth group, and one side edge of the cloths. Preparations are made to expand the club.

[0004]

By the way, in the group of cloths that have undergone the drying process, the cloths are entangled with each other, and when the cloths are taken out one by one from the group of cloths. , The worker bends his waist and grabs and lifts any one piece of cloth from the group of cloths, and while holding one part of the cloth with one hand and lifting it, the other hand It was necessary to unravel and remove another cloth that was entangled in the.
It is necessary to perform such work for each piece of cloth,
The work of taking out the cloth is continuously performed for a long time. Therefore, conventionally, when taking out the cloths one by one from the cloth group,
The work of bending and stretching the hips must be repeated continuously, which causes a considerable amount of labor, and when unraveling another cloth that is entangled with the lifted cloth, use a cloth different from the lifting hand. Since it is necessary to perform the unraveling work of a kind, there is a problem that the work is difficult and the unraveling work takes a long time.

In view of the above conventional problems, the present invention has been made
A cloth take-out device that makes it possible to easily and lightly take out the cloths one by one from a pile of cloths that have already been dried, and to take out the cloths reliably. The purpose is to propose.

[0006]

SUMMARY OF THE INVENTION The present invention provides a gripping device capable of gripping an arbitrary portion of cloth between a lower cloth gripping position and an upper cloth lifting position by a vertical movement device. In a cloth take-out device that can be moved up and down to take out one cloth from a pile of cloths in a suspended state, the gripping device has a pair of left and right chuck pieces, and A chuck in which the outer end of the chuck piece is pivotally attached to each link by an axis so that the inner side of each chuck piece can swing up and down, and each chuck piece is operated by operating each link. And a chuck opening / closing device for opening and closing in the direction of approaching and separating from each other, and connecting each axis from a position where the tip gripping part of each chuck piece joins below the line connecting each axis of each chuck piece in the chuck closed state. Change beyond the line to the position to join on the upper side. It is characterized in that each chuck pieces provided with a chuck pieces oscillating apparatus allowed to swing upwardly as will be.

In this cloth take-out device, the vertical movement device for moving the gripping device up and down moves the chuck of the gripping device to a position where one cloth can be gripped from the piled cloth group. Sometimes, the downward movement of the gripping device is stopped by a detector (for example, a proximity switch), and when the chuck grips an arbitrary part of one piece of cloth and lifts it up to a predetermined upper position, the detector (for example, The limit switch) stops the upward movement of the gripping device. A telescopic cylinder can be used as each of the chuck opening / closing device and the chuck piece swinging device.

[0008]

When the cloth take-out device of the present invention is used,
A group of washed and dried cloths is piled up just below the vertical movement position of the gripping device. At this time, the gripping device is caused to stand by at a standby position above a predetermined level by the vertical movement device, and the chuck is kept open.

When the start switch is operated,
The vertical movement device lowers the holding device to a position where the chuck of the holding device comes into contact with the upper surface of the piled cloth group, and then the holding device is stopped there.

Then, the chuck is opened and closed by the chuck opening / closing device to hold an arbitrary portion of the cloth between the front end holding portions of the two chuck pieces. In this state, the tip gripping portions of both chuck pieces are joined below the line connecting the axes pivotally attaching the chuck pieces.

Subsequently, from this state, both chuck pieces are rocked upward by the chuck piece rocking device. Then, the tip gripping portions of both chuck pieces are displaced to the upper position of the cloth while crossing the line connecting the axes while gripping the cloth. As described above, when the chuck pieces swing upward, the respective tip gripping portions stick to each other until the tip gripping portions reach the line connecting the shafts. The shaft-attached portions of the chuck pieces retreat to the left and right outside by a slight amount against the urging force of the chuck opening / closing device, and thereafter, the shaft-attached portions of the chuck pieces are displaced so as to come close to each other. In this state, since both tip gripping portions are joined to each other above the line connecting the axes of the chuck pieces, even if each chuck piece tries to swing downward about that axis, The tip gripping portions stick to each other and the chuck pieces are less likely to swing downward.

Next, when the gripping device is moved upward by the vertical movement device, the cloths held by the chuck are lifted to a predetermined upper position (clothes lifting position), and the operation of the vertical movement device is performed there. Stop. Thus, when the gripping device is moved upward, the cloths gripped by the chuck are pulled out from the piled cloth group in a entangled state, but at this time, a considerable pulling resistance is applied to the chuck portion. By the way, each chuck piece acts so that when a downward pulling force is applied to the cloth gripping portion, the degree of tension between the tip gripping portions is increased and the gripping force is further increased. As a result, the cloth that is being gripped will not accidentally come out of the gripping portion.

Further, when a cloth is suspended while being held by a chuck, another cloth may be entangled with the suspended cloth. At that time, the cloth is suspended. In this state, the worker can loosen (remove) another entangled cloth with both hands.

Then, after unraveling (removing) the entangled cloth, the chuck opening / closing device is opened to remove one piece of cloth suspended by the gripping device from the gripping device. Good. The removed piece of cloth may be spread on one side of the cloth in a straight line by using another cloth edging machine.
Alternatively, the worker manually trims the frame and transfers it to the next process side (for example, the press process side). After removing the cloths suspended by the gripping device, the next piece of cloths can be taken out by returning the chuck piece swinging device and the vertical movement device to the initial position, and the cloths can be continuously and continuously. It can be taken out.

[0015]

The cloth take-out apparatus of the present invention has the following effects. (1) By operating a switch, one piece of cloth in a pile can be supported in a state of being hung up to a predetermined height. Freed from the heavy labor of lifting items. (2) When unraveling another cloth that is entangled with the cloth to be taken out, it can be done with the cloth hanging from the gripping device, so both hands of the worker can be used and the unraveling work is easy. It can be done in a short time. (3) After the chuck is opened and closed by the chuck opening / closing device, each chuck piece is swung upward by the chuck piece swinging device so that each tip gripping part of the chuck piece moves each axis of both chuck pieces. Since the joining is done at a position that extends from the lower side to the upper side of the connecting line, when the cloth is lifted while holding the cloth with the chuck in this way, the cloth gripping portion is moved downward. Even if a load is applied, the gripping action is strengthened by the load and the cloth can be reliably gripped (the cloth does not fall out of the chuck).

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. 1 to 5. A cloth take-out device of this embodiment is a gripping device 1 capable of gripping an arbitrary part of a cloth Y, The basic configuration is a vertical movement device 6 that moves the gripping device 1 up and down.

The gripping device 1 includes a vertically oriented plate-shaped mount 11.
A chuck 2 having a pair of left and right chuck pieces 21, 21; a chuck opening / closing device 3 for opening and closing the respective chuck pieces 21, 21 in the approaching / separating direction with respect to each other; And a chuck piece swinging device 4 for swinging.

In this embodiment, as shown in FIG. 1, the vertical movement device 6 includes a first vertical movement device 7 for directly moving the holding device 1 up and down, and a first vertical movement device 7 for moving the holding device 1. And a second vertical movement device 8 that indirectly moves up and down via the.

The second vertical movement device 8 guides a horizontally-long lift table 82 to be vertically movable by a guide column 81 having a considerable length, and a vertically movable motor 83 that can rotate the lift table 82 in both forward and backward directions. Each sprocket 84, 85 and chain 86
It is designed so that it can be lifted up and down. That is,
In FIG. 1, the second vertical movement device 8 moves the sprockets 84 and 85 clockwise by the motor 83 to move the lifting table 82 downward, and conversely rotates the sprockets 84 and 85 counterclockwise by the motor 83 to raise and lower. The table 82 can be moved upward. In the illustrated example (FIG. 1), the elevator table 82 is configured such that the upper and lower limit switches 87 and 88 control the rotation of the motor 83, and the elevator table 82 is indicated by a solid line indicated by reference numeral 82 and by reference numeral 82 '. It is designed so that it can be raised and lowered within the range of the position indicated by the chain line.

In the first vertical movement device 7, a vertically oriented guide column 73 is attached to the tip of an elevating table 82, and the guide column 73 is attached.
Guide the mounting base 11 of the gripping device 1 to the rodless cylinder 71 via the connecting member 12.
I am trying to raise and lower with. Further, in the first vertical movement device 7 of this illustrated example (FIG. 1), the rodless cylinder 71
The upper limit of the upward movement of the sliding body 72 is controlled by the limit switch 74, while the downward movement stop position of the sliding body 72 is controlled by the proximity switch 75 attached to the lower surface of the mount 11. The proximity switch 75 for stopping the downward movement of the sliding body 72
Is activated when a predetermined small distance is approached to the upper surface of the piled cloth group Z (when the gripping device 1 is moved down to the position indicated by reference numeral 1 '), and the rod is activated by the signal. It acts so as to stop the operation of the pressure cylinder 71. Therefore, the range of downward movement of the sliding body 72 (grasping device 1) changes depending on the height of the upper surface of the piled cloth group Z.

In this embodiment, as the vertical driving device 6, two first vertical moving devices 7 and second vertical moving devices 8 are used, and various control switches (74, 75, 83, 8) are used.
Although the vertical movement range of the gripping device 1 is controlled in 4), the control method of the illustrated example is an example, and other control methods adopted in the other embodiments are generally used. It is also possible to do so. For example, when the gripping device 1 is moved down to the cloth gripping position B, the chuck 2 is moved down until it comes into contact with the upper surface of the piled cloth group Z at a certain pressure, and then the pressure is applied. May be detected (or based on the pressure thereof), the downward movement of the gripping device 1 may be stopped. By doing this, the chuck 2 can be securely attached to the cloth group Z.
Can be pressed against the upper surface of the chuck 2, and the chuck 2 does not have an empty grip. Further, in still another embodiment, the vertical drive device 6
As long as the gripping device 1 can be moved vertically between the cloth holding position B below and the cloth lifting position C above, a single device may be used.

The chuck 2 of the gripping device 1 has a pair of left and right chuck pieces 21, 21. Each chuck piece 2
1, 21 are arranged at the lower end on one surface side (front side) of the mount 11, and can be opened and closed in the left-right direction by a chuck opening / closing device 3 described next.

In this embodiment, the chuck opening / closing device 3 includes two telescopic cylinders 3 on the left and right, as shown in FIGS.
1, 31 and two left and right sets of a first link 32 and a second link 34 which are rockably operated by the telescopic cylinders 31, 31, respectively. The telescopic cylinders 31, 31 of the chuck opening / closing device 3 are vertically installed on the back side of the mounting base 11. The first links 32, 32 are on the back side of the mounting base 11, while the second links 34, 34 are on the front side of the mounting base 11, one end of the first link 32 and one end of the second link 34. And are connected by a shaft 35 penetrating the mount 11. As shown in FIG. 3, the shaft 35 is rotatably attached to the attachment base 11.
The first link 32 and the second link 34 are key-fixed to the shaft 35, respectively. Therefore, the first link 32 and the second link 34 on each side are integrally swung about the shaft 35.

Each telescopic cylinder 3 of the chuck opening / closing device 3
Numerals 1 and 31 are the upper ends on the tube side of the shaft 3 respectively.
While pivotally attaching to the mount 11 at 0, 30, the tip ends of the rods are attached to the end portions of the first links 32, 32 on the side opposite to the pivotal portions 33, 3 respectively.
It is pivoted at 3.

The chuck pieces 21, 21 of the chuck 2 are
It is installed laterally on the front side of the mount 11. Further, each of the chuck pieces 21 and 21 has its outer end portions 21a and 21a pivotally attached to the opposite end portions of the second links 34 and 34 by shafts 36 and 36, respectively. Therefore, each of the chuck pieces 21 and 21 can swing up and down on the inner side of the chuck pieces 21 and 21 about the shaft-attached portion (reference numeral 36).

The chuck pieces 21, 21 are vertically swung by the chuck piece swinging device 4. The chuck piece swinging device 4 includes one telescopic cylinder 41 in the illustrated example.
And left and right links 42, 42 operated by the telescopic cylinder 41. This telescopic cylinder 4
1 has a tube-side upper end portion on the front side of the mount 11, which is pivotally attached to the mount 11 by a shaft 40. In addition, at the rod tip of the telescopic cylinder 41, two links 42, 42 are provided.
Each upper end of the is pivotally attached to one shaft 43. On the other hand, the other ends of the links 42, 42 are connected to the chuck pieces 21,
Shafts 44 and 44 are pivotally mounted at positions near the inner end of 21.

In the gripping device 1, the respective telescopic cylinders 31, 31 of the chuck opening / closing device 3 are telescopically operated so that the respective chuck pieces 21, 21 are opened / closed in the approaching / separating directions. Nari (Fig. 2 or 4), on the other hand,
When the chuck 2 is closed (FIG. 4), the telescopic cylinder 41 of the chuck piece rocking device 4 is telescopically operated so that the inner sides of the chuck pieces 21 and 21 are vertically swung. (Fig. 4 or 5).
As shown in FIG. 2, when the chuck 2 is open, the distance between the inner end portions (tip gripping portions) 21b, 21b of the chuck pieces 21, 21 should be about 40 mm, for example. Is set, and further, the tip gripping portions 21b,
21b is set to be located at the bottom of the chuck piece 21.

Further, in the chuck piece swinging device 4, in the chuck closed state (FIGS. 4 and 5), when the telescopic cylinder 41 is in the extended state, the tip gripping portions 21b and 21b of the chuck pieces 21 and 21 are moved. The shafts 36 that pivotally attach the chuck pieces 21, 21 to the second links 34, 34, respectively.
When the telescopic cylinder 41 is contracted on the other hand, the distal end gripping portions 21b, 21b are located above the line L connecting the shafts and are joined to each other above the line L connecting the shafts 36 (see FIG. 4). It is set to join (see FIG. 5). In this way, when each chuck piece 21, 21 swings upward beyond the line L connecting the above-mentioned shafts, each tip gripping portion 2 thereof.
Until each of 1b and 21b reaches the line L, the tip gripping portion 2
1b and 21b are bulged against each other, so that the shaft-attached portions (shafts 36 and 36 portions) of the chuck pieces 21 and 21 are retracted to the left and right by a slight amount against the urging force of the chuck opening / closing device 3, and then (the Beyond the line L), the shaft-attached portions (36, 36) of the chuck pieces are displaced so as to come close to each other. In addition, as shown in FIG.
A line L connecting the axes of the tip gripping portions 21b and 21b of the reference numerals 1 and 21.
In the state in which it is located on the upper side, the both end grip portions 21
Since b and 21b are joined to each other above the line L, even if the chuck pieces 21 and 21 try to swing downward about their axes 36 and 36, the tip gripping portions 2
1b and 21b are stuck to each other and the chuck pieces 2
It becomes difficult for the 1 and 21 to swing downward.

Next, a method of using the cloth take-out device of the illustrated embodiment will be described. When the cloth take-out device is used, the washed and dried cloth group Z is provided immediately below the vertical movement position of the gripping device 1. Are arranged in piles. At this time, the gripping device 1 is made to stand by at the standby position A shown by the solid line in FIG. 1 by the vertical movement device 6 (first vertical movement device 7 and second vertical movement device 8), and the chuck 2 is opened. I will keep it.

When the start switch is operated from this state, first, the rodless cylinder 71 of the first vertical movement device 7 is operated to move down the sliding body 72, thereby moving down the entire holding device 1. The position where the chuck 2 contacts the upper surface of the piled cloth group Z (cloth cloth gripping position B)
When the gripping device 1 is moved down until (the gripping device 1 is moved down to the position indicated by reference numeral 1 '), the proximity switch 75 on the lower surface of the mounting base 11 detects the upper surface of the cloth group Z. The operation of the rodless cylinder 71 is stopped by the signal (state of FIG. 2).

Next, the telescopic cylinders 31, 31 of the chuck opening / closing device 3 are contracted to close the chuck 2 as shown in FIG. 4, and the tip gripping portions 21b, 21b of the chuck pieces 21, 21 are respectively closed. An arbitrary portion of one piece of cloth Y is gripped between 21b. In this state, each chuck piece 2
The tip gripping portions 21b, 21b of the Nos. 1, 21 are lines L connecting the shafts 36, 36 pivotally attaching the chuck pieces 21, 21.
Bonded on the lower side.

Subsequently, from this state, the telescopic cylinder 41 of the chuck piece rocking device 4 is contracted. Then, both chuck pieces 21 and 21 are swung upward, respectively, and the front end gripping portions 21b and 21b of the chuck pieces 21 are moved to 1
While holding a piece of cloth Y, the cloth Y is displaced to the upper position over the line L connecting the axes.

Next, the rodless cylinder 71 of the first vertical movement device 7 is operated to move upward, and the motor 83 of the second vertical movement device 8 is operated in the upward movement direction of the lift table to hold the gripping device 1.
Move up. The operation of the rodless cylinder 71 is stopped when the sliding body 72 operates the limit switch 74, and the operation of the motor 83 is stopped when the lift base 82 operates the upper limit switch 87. In this state, the gripping device 1 is moved up to the position indicated by reference numeral 1 ″ (FIG. 1), and the cloth Y gripped by the chuck 2 is lifted to a predetermined upper position (cloth lifting position C). In this way, when the gripping device 1 moves upward, the cloth Y gripped by the chuck 2 is pulled out from the piled cloth group Z, but at this time, a considerable pulling resistance is applied to the chuck 2 portion. By the way, when a downward pulling force is applied to the cloth gripping portions 21b and 21b of the chuck pieces 21 and 21 in this way, both the tip gripping portions 21
Since b and 21b are joined to each other above the line L connecting the axes of the chuck pieces 21 and 21, the degree of tension between the tip gripping portions 21b and 21b is increased and the chuck pieces 21 and 21b. The gripping force due to the action is further increased, so that the cloth Y that has been gripped does not accidentally come out of the gripped portion.

Further, when the cloth Y is hung while being held by the chuck 2, another cloth may be entangled with the hung cloth. The worker may use the two hands to loosen the other entangled cloth in the suspended state. In that case, since the worker uses both hands, the cloth unraveling work can be easily performed.

Then, the cloth Y suspended by the gripping device 1
Then, after unraveling (removing) the cloth entwined with it, the chuck opening / closing device 3 is operated to open, and the one cloth Y hung by the holding device 1 is removed from the holding device. The one piece of the removed cloth is spread on one side of the cloth in a straight line by another cloth edging machine, or an operator manually cuts out one side of the cloth and then the side of the cloth is pressed (for example, in the pressing step). Side). In addition, after removing the cloths suspended by the gripping device 1, if the chuck piece swinging device 4 and the vertical moving devices (7, 8) are returned to the initial positions, the next cloth removing operation can be performed. , You can take out the cloths one after another.

[Brief description of drawings]

FIG. 1 is an overall side view of a cloth take-out device according to an embodiment of the present invention.

FIG. 2 is an enlarged view of a gripping device portion of the cloth take-out device of FIG.

FIG. 3 is a right side view of FIG.

FIG. 4 is a state change diagram of FIG.

5 is a state change diagram of FIG. 4. FIG.

[Explanation of symbols]

1 is a gripping device, 2 is a chuck, 3 is a chuck opening / closing device,
4 is a chuck piece swinging device, 6 is a vertical drive device, and 7 is a first
Vertical movement device, 8 is a second vertical movement device, 11 is a mount, 21
Is a chuck piece, 21a is an outer end portion, 21b is a tip gripping portion, 31 is a telescopic cylinder, 34 is a link (second link), 36 is a shaft, 41 is an telescopic cylinder, A is a standby position,
B is a cloth gripping position, C is a cloth lifting position, L is a line connecting each axis, Y is a cloth, and Z is a cloth group.

Claims (1)

[Claims] 1. A gripping device (1) capable of gripping an arbitrary part of a cloth (Y) is provided with a vertical movement device (6) for lower cloth gripping position (B) and upper cloth lifting position. A cloth take-out device which can be moved up and down with respect to (C) so that one cloth (Y) can be taken out from a pile of cloth groups (Z) in a suspended state. The gripping device (1) includes a pair of left and right chuck pieces (21,
21) and the outer end portions (21a, 21a) of the chuck pieces (21, 21) are respectively provided with shafts (36, 36).
And a chuck (2) pivotally attached to each of the links (34, 34) so that the inner side of each of the chuck pieces (21, 21) can be vertically swung, and the links (34, 34).
By operating each of the chuck pieces (21,
21) and a chuck opening / closing device (3) for opening / closing each other in the approaching / separating direction, and the tip gripping portions (21b, 21b) of the chuck pieces (21, 21) in the chuck closed state. ) Of the chuck pieces (36) so as to be displaced from a position below the line (L) connecting the axes (36, 36) to a position above the line (L) connecting the axes to a position above the chuck ((L)). And a chuck piece swinging device (4) for swinging the (21, 21) upwards.